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Cleaned up comments & updated variable
Cleaned up some of the comments, adjusted formatting to add whitespace. Changed Motor class member en_a to enc_a and en_b to enc_b to avoid confusion with L293D Enable pins.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| // Motor A connections | ||
| int enA = 9; | ||
| int in1 = 9; | ||
| int in2 = 8; | ||
| // Motor B connections | ||
| int enB = 3; | ||
| int in3 = 10; | ||
| int in4 = 11; | ||
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| void setup() { | ||
| // Set all the motor control pins to outputs | ||
| pinMode(enA, OUTPUT); | ||
| pinMode(enB, OUTPUT); | ||
| pinMode(in1, OUTPUT); | ||
| pinMode(in2, OUTPUT); | ||
| pinMode(in3, OUTPUT); | ||
| pinMode(in4, OUTPUT); | ||
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| // Turn off motors - Initial state | ||
| digitalWrite(in1, LOW); | ||
| digitalWrite(in2, LOW); | ||
| digitalWrite(in3, LOW); | ||
| digitalWrite(in4, LOW); | ||
| } | ||
|
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| void loop() { | ||
| directionControl(); | ||
| delay(1000); | ||
| speedControl(); | ||
| delay(1000); | ||
| } | ||
|
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| // This function lets you control spinning direction of motors | ||
| void directionControl() { | ||
| // Set motors to maximum speed | ||
| // For PWM maximum possible values are 0 to 255 | ||
| analogWrite(enA, 255); | ||
| analogWrite(enB, 255); | ||
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| // Turn on motor A & B | ||
| digitalWrite(in1, HIGH); | ||
| digitalWrite(in2, LOW); | ||
| digitalWrite(in3, HIGH); | ||
| digitalWrite(in4, LOW); | ||
| delay(2000); | ||
|
|
||
| // Now change motor directions | ||
| digitalWrite(in1, LOW); | ||
| digitalWrite(in2, HIGH); | ||
| digitalWrite(in3, LOW); | ||
| digitalWrite(in4, HIGH); | ||
| delay(2000); | ||
|
|
||
| // Turn off motors | ||
| digitalWrite(in1, LOW); | ||
| digitalWrite(in2, LOW); | ||
| digitalWrite(in3, LOW); | ||
| digitalWrite(in4, LOW); | ||
| } | ||
|
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||
| // This function lets you control speed of the motors | ||
| void speedControl() { | ||
| // Turn on motors | ||
| digitalWrite(in1, LOW); | ||
| digitalWrite(in2, HIGH); | ||
| digitalWrite(in3, LOW); | ||
| digitalWrite(in4, HIGH); | ||
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||
| // Accelerate from zero to maximum speed | ||
| for (int i = 0; i < 256; i++) { | ||
| analogWrite(enA, i); | ||
| analogWrite(enB, i); | ||
| delay(20); | ||
| } | ||
|
|
||
| // Decelerate from maximum speed to zero | ||
| for (int i = 255; i >= 0; --i) { | ||
| analogWrite(enA, i); | ||
| analogWrite(enB, i); | ||
| delay(20); | ||
| } | ||
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||
| // Now turn off motors | ||
| digitalWrite(in1, LOW); | ||
| digitalWrite(in2, LOW); | ||
| digitalWrite(in3, LOW); | ||
| digitalWrite(in4, LOW); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| /* | ||
| Motor.h - Library for working with the Cytron SPG30E-30K or other DC motor with quadrant encoder. | ||
| Created by Vinay Lanka, January 27, 2021. | ||
| Update - Dingo 21 November 2021 | ||
| + en_a and en_b updated to enc_a and enc_b to avoid confusion with "Enable A and Enable B on the L293D motor driver (which is not used) | ||
| + comments update with details | ||
| */ | ||
| #ifndef Motor_h | ||
| #define Motor_h | ||
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| #include "Arduino.h" | ||
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| class Motor { | ||
| public: | ||
| //Constructor for Motor - 'Plus' and 'Minus' are the Motor pins to connect the output to / enc_a and enc_b are the encoder inputs | ||
| Motor(int plus, int minus, int enc_a, int enc_b); | ||
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| //Rotate motor shaft based on a percentage value | ||
| void rotate(int value); | ||
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| //Motor Outputs - plus is one direction and minus is the other | ||
| int plus; | ||
| int minus; | ||
|
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| //Encoder Inputs | ||
| int enc_a; | ||
| int enc_b; | ||
| }; | ||
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| #endif |
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